Almost every joke can offend someone. No matter how innocuous its content or noble your motive, it is possible that your humor or words can cause pain.
This isn’t an excuse to deliberately go forth and start spouting hurtful things.
But it is a reminder to use your internal filter to acknowledge that someone, somewhere, might take your words or jokes in a manner unintended. You can’t censor everything you say out of fear.
Doing so weakens your ability to communicate.